[특허]Trailer length and hitch angle bias estimation

Trailer length and hitch angle bias estimation 원문보기

IPC분류정보
국가/구분	United States(US) Patent 등록
국제특허분류(IPC7판)	A01B-069/00 B62D-015/02 B62D-013/06 G01B-021/22
출원번호	US-0046531 (2016-02-18)
등록번호	US-10005492 (2018-06-26)
발명자 / 주소	Raad, Joseph M. Kyrtsos, Christos Daavettila, Tyler Mattern, Donald Jacob Lavoie, Erick Michael
출원인 / 주소	Ford Global Technologies, LLC
대리인 / 주소	MacKenzie, Frank
인용정보	피인용 횟수 : 0 인용 특허 : 195

초록 ▼

A backup assist system for a vehicle and trailer combination includes a steering system and a first sensor detecting a first dynamic condition of the combination. The system further includes a controller receiving a value for the first dynamic condition from the first sensor at a plurality of instances. The controller further solves for a corresponding plurality of parameters in a kinematic model of the combination and controls the steering system using the plurality of parameters in the kinematic model.

대표청구항 ▼

1. A backup assist system for a vehicle and trailer combination, comprising: a steering system;a first sensor detecting a first dynamic condition of the combination; anda controller: receiving a value for the first dynamic condition from the first sensor at a plurality of instances;solving for a corresponding plurality of parameters in a kinematic model of the combination; andcontrolling the steering system using the plurality of parameters in the kinematic model. 2. The backup assist system of claim 1, wherein: the first sensor is a hitch angle sensor;the first dynamic condition is a hitch angle between the vehicle and the trailer;the system further includes a second sensor comprising a steering angle sensor determining a steering angle of the steering system; andthe controller further receives a plurality of values for the steering angle for each of the plurality of instances. 3. The backup assist system of claim 2, wherein: the plurality of instances includes two instances; andthe plurality of parameters solved for include a trailer length and a hitch angle bias. 4. The backup assist system of claim 3, wherein the two instances indicate a steady state condition of the combination. 5. The backup assist system of claim 3, wherein the two instances each include a hitch angle of less than 10°. 6. The backup assist system of claim 2, wherein: the plurality of instances includes three instances; andthe plurality of parameters solved for include a trailer length, a drawbar length, and a hitch angle bias. 7. The backup assist system of claim 2, wherein: the controller uses the values received for the hitch angle and the steering angle to fit a linear curve to the hitch angle values against the steering angle values, the linear curve correlating with a rate of change of the steering angle over a rate of change of the hitch angle; andthe controller solves for a trailer length using the rate of change of the steering angle over a rate of change of the hitch angle in the kinematic model. 8. The backup assist system of claim 1, wherein: the first sensor is a yaw rate sensor of the trailer;the first dynamic condition is a yaw rate of the trailer;the system further includes a second sensor comprising a vehicle yaw rate sensor determining a yaw rate of the vehicle; andthe controller further receives a plurality of values for the vehicle yaw rate for each of the plurality of instances. 9. The backup assist system of claim 8, wherein: the plurality of instances includes two instances; andthe plurality of parameters solved for include a trailer length and a hitch angle bias. 10. The backup assist system of claim 1, wherein controlling the steering system using the plurality of parameters in the kinematic model includes determining a steering angle according to a curvature command. 11. A vehicle, comprising: a steering system;a first sensor detecting a first dynamic condition of at least one of the vehicle and the vehicle in a combination with a trailer; anda trailer backup assist system, comprising a controller: receiving a value for the first dynamic condition from the first sensor in at least one instance;solving for at least one parameter corresponding in number to the at least one instance in a kinematic model of the combination; andcontrolling the steering system using the at least one parameter in the kinematic model. 12. The vehicle of claim 11, further including a second sensor comprising a steering angle sensor determining a steering angle of the steering system, wherein: the first sensor is a hitch angle sensor;the first dynamic condition is a hitch angle between the vehicle and the trailer; andthe controller of the trailer backup assist system further receives at least one value for the steering angle for each of the at least one instance. 13. The vehicle of claim 12, wherein: the at least one instance includes two instances; andthe at least one parameter solved for includes a trailer length and a hitch angle bias. 14. The vehicle of claim 12, wherein: the controller uses the values received for the hitch angle and the steering angle to fit a linear curve to the hitch angle values against the steering angle values, the linear curve correlating with a rate of change of the steering angle over a rate of change of the hitch angle; andthe controller solves for a trailer length using the rate of change of the steering angle over a rate of change of the hitch angle in the kinematic model. 15. The vehicle of claim 11, wherein: the first sensor is a yaw rate sensor of the trailer;the first dynamic condition is a yaw rate of the trailer;the vehicle further includes a second sensor comprising a vehicle yaw rate sensor determining a yaw rate of the vehicle;the controller further receives a plurality of values for the vehicle yaw rate for each of the at least one instance; andthe at least one parameter solved for includes a trailer length and a hitch angle. 16. A method for assisting a vehicle in reversing a trailer, comprising: determining unknown values for a plurality of parameters in a combination of the vehicle and the trailer, including: receiving a first measurement for a first dynamic condition of the combination at a plurality of instances; andsolving for the parameters in a kinematic model of the combination; andimplementing a reversing operation including controlling a vehicle steering system using the plurality of parameters. 17. The method of claim 16, wherein: the first dynamic condition is a hitch angle between the vehicle and the trailer; anddetermining the unknown values further includes receiving a second measurement for a steering angle of the steering system at the plurality of instances. 18. The method of claim 17, wherein: the plurality of instances includes two instances; andthe plurality of parameters solved for include a trailer length and a hitch angle bias. 19. The method of claim 17, wherein solving for the parameters in the kinematic model of the combination includes: using the values received for the hitch angle and the steering angle to fit a linear curve to the hitch angle values against the steering angle values, the linear curve correlating with a rate of change of the steering angle over a rate of change of the hitch angle; andsolving for a trailer length using the rate of change of the steering angle over a rate of change of the hitch angle in the kinematic model. 20. The method of claim 16, wherein: the first dynamic condition is a yaw rate of the trailer;determining the unknown values further includes receiving a second measurement for a yaw rate of the vehicle for each of the plurality of instances; andthe plurality of parameters solved for include a trailer length and a hitch angle.

이 특허에 인용된 특허 (195)

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Lee, Yong H.; Kade, Alexander, Trailer articulation angle estimation.
상세보기
Shepard, Daniel Robert, Trailer backing up device and method.
상세보기
Shepard, Daniel Robert, Trailer backing up device and table based method.
상세보기
Lavoie, Erick Michael; Trombley, Roger Arnold; Nave, Christopher; Shutko, John; Rupp, Matt Y.; Mayer, Kenneth Michael; Pilutti, Thomas Edward; Frey, Martin Fitzpatrick; Rhode, Douglas Scott; Smit, David Dean, Trailer backup assist system.
상세보기
Hafner, Michael; Pilutti, Thomas Edward, Trailer backup assist system with trajectory planner for multiple waypoints.
상세보기
Breen Michael T. (Garden City MI), Trailer brake control.
상세보기
Nakamura Katsushi,JPX ; Sakai Masaru,JPX, Trailer brake control device of tractor-trailer combination vehicle for suppression of side sway of trailer.
상세보기
Ortmann, Walt Joseph; Kraska, Marvin Paul; Colvin, Dan Scott; Masterson, Brandon R., Trailer connection assist system.
상세보기
Oh, Pahngroc; Funke, Scott; Pavlov, Kevin J., Trailer control system.
상세보기
Fairchild O. Dean, Trailer hitch alignment device.
상세보기
Craig,Scott C.; Spratte,Joachim, Trailer hitch for a motor vehicle.
상세보기
Beasley Donald R. (2140 S. Pacific Hwy. Kelso WA 98626) Hanson Paul J. (2914 Westside Hwy. Castle Rock WA 98611), Trailer hitch positioning apparatus.
상세보기
Nelson Terry L. (Camas Valley OR), Trailer hitching aid and method using reception delay of different velocity signals.
상세보기
Piesinger, Gregory Hubert, Trailer hitching and backing precision guidance system method and apparatus.
상세보기
Howard Donald, Trailer jack-knife alarm device.
상세보기
Kyrtsos, Christos; Pilutti, Thomas Edward; Miller, Alex Maurice; Rhode, Douglas Scott, Trailer length estimation in hitch angle applications.
상세보기
Trombley, Roger Arnold; Aich, Sudipto; Rolfes, Nate; Lavoie, Erick Michael, Trailer monitoring system and method.
상세보기
Xu, Li; Tseng, Eric Hongtei; Pilutti, Thomas Edward; Schondorf, Steven Yellin; Hrovat, Davor David; Joyce, John P., Trailer motion and parameter estimation system.
상세보기
Getman, Anya Lynn; Macneille, Perry Robinson; Shaffer, Aric David, Trailer oscillation detection and compensation method for a vehicle and trailer combination.
상세보기
Getman, Anya Lynn; Macneille, Perry Robinson; Shaffer, Aric David, Trailer oscillation detection and compensation method for a vehicle and trailer combination.
상세보기
Rhode, Douglas Scott; Smit, David Dean; Lavoie, Erick Michael; Frey, Martin Fitzpatrick; Pilutti, Thomas Edward; Shim, Taehyun; Rupp, Matt Y.; Trombley, Roger Arnold, Trailer path curvature control for trailer backup assist.
상세보기
Perri, Ottavio, Trailer reversal self-correcting assembly.
상세보기
Kyrtsos, Christos; Pilutti, Thomas Edward; Lavoie, Erick Michael, Trailer sensor module and associated method of wireless trailer identification and motion estimation.
상세보기
Padula, Santo A., Trailer steering system for a tractor/trailer combination.
상세보기
Englert, Kirk Matthew, Trailer sway control with reverse sensors.
상세보기
Pieronek, Donald; Hoogenakker, Alan, Trailer sway detection and method for reducing trailer sway utilizing trailer brakes.
상세보기
Trombley, Roger Arnold; Nave, Christopher Scott; Pilutti, Thomas Edward; Shutko, John; Elwart, Shane; Mayer, Kenneth Michael, Trailer target placement assist system and method.
상세보기
Lee, Yong Han; Deng, Weiwen, Trailer tongue length estimation using a hitch angle sensor.
상세보기
Lee,Yong Han; Deng,Weiwen, Trailer tongue length estimation using a trailer yaw rate sensor.
상세보기
Adamczyk, Dirk; Stratmann, Julian; Elbers, Christoph, Trailer towing device for a tractor vehicle.
상세보기
Pellerito Alexander M. (1975 SW. 116th Ave. Davie FL 33325), Trailor hitch.
상세보기
Rhymer, John Mitchell; Lantz, Douglas M.; Tuttle, Scott J., Travel trailer having improved turning radius.
상세보기
McLaughlin Richard J. (4203 W. 141st St. Hawthorne CA 90250), Truck/trailer control system.
상세보기
Kuriya, Hisashi; Endo, Takashi; Suzuki, Isao; Ando, Masahiko; Shimazaki, Kazunori, Vehicle backing support apparatus.
상세보기
Goetting,Hans Heinrich; Scherf,Helmut; Schumacher,Walter; Schwarzhaupt,Andreas; Spiegelberg,Gernot, Vehicle control system.
상세보기
Freese, V, Charles E.; Hendrickson, Brent D., Vehicle docking assistance system.
상세보기
Rubenzik Robert (315 W. Northview Phoenix AZ 85021), Vehicle docking device using sensor matrix.
상세보기
McMahon,Martha A.; Bingle,Robert L., Vehicle imaging system.
상세보기
Basten, Mark, Vehicle length sensors.
상세보기
Greenwood, Jeremy John; Nicholls, Stephen; Crawford, Andrew Stephen Bell, Vehicle maneuvering aids.
상세보기
Takahama, Taku; Kimura, Takeshi, Vehicle obstacle verification system.
상세보기
Akatsuka, Takeshi; Oizumi, Ken, Vehicle periphery video providing apparatus and method.
상세보기
Ishida, Akira; Iisaka, Atsushi; Yoshida, Takashi, Vehicle rendering device for generating image for drive assistance.
상세보기
Rannells ; Jr. Charles T. ; Bomar Leslie A. ; Reifsteck Christopher K. ; Arnold Alois A., Vehicle safety system.
상세보기
Widmann,Glenn R; Scharenbroch,Gregory K.; Harter, Jr.,Joseph E.; Smith,Matthew R., Vehicle turning assist system and method.
상세보기
Deng, Weiwen; Lee, Yong H.; Chin, Yuen-Kwok, Vehicle-trailer backing up jackknife detection and warning system.
상세보기
Lee,Yong H.; Deng,Weiwen; Chin,Yuen Kwok; Lin,William C., Vehicle-trailer backing up system using active front steer.
상세보기
Deng Weiwen ; Chin Yuen-Kwok ; Lin William Chin-Woei ; Rule David S. ; Lee Yong Han, Vehicle-trailer backing-up control system with vehicle rear wheel steering.
상세보기
Inagaki,Shoji, Vehicular motion control apparatus and vehicular motion control method.
상세보기
Kageyama, Hiromitsu, Vehicular steering apparatus and control method thereof.
상세보기
Kendall Rodney G. (Orem UT), Vehicular steering system for reverse paths.
상세보기

IPC	Description
A	생활필수품
A62	인명구조; 소방(사다리 E06C)
A62B	인명구조용의 기구, 장치 또는 방법(특히 의료용에 사용되는 밸브 A61M 39/00; 특히 물에서 쓰이는 인명구조 장치 또는 방법 B63C 9/00; 잠수장비 B63C 11/00; 특히 항공기에 쓰는 것, 예. 낙하산, 투출좌석 B64D; 특히 광산에서 쓰이는 구조장치 E21F 11/00)
A62B-1/08	.. 윈치 또는 풀리에 제동기구가 있는 것

내보내기 구분	파일저장 인쇄 메일전송
구성항목	기본정보 상세정보 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표IPC 관리번호, 국가코드, 자료구분, 상태, 출원번호, 출원일자, 공개번호, 공개일자, 공고번호, 공고일자, 등록번호, 등록일자, 발명명칭(한글), 발명명칭(영문), 출원인(한글), 출원인(영문), 출원인코드, 대표출원인, 출원인국적, 출원인주소, 발명자, 발명자E, 발명자코드, 발명자주소, 발명자 우편번호, 발명자국적, 대표IPC, IPC코드, 요약, 미국특허분류, 대리인주소, 대리인코드, 대리인(한글), 대리인(영문), 국제공개일자, 국제공개번호, 국제출원일자, 국제출원번호, 우선권, 우선권주장일, 우선권국가, 우선권출원번호, 원출원일자, 원출원번호, 지정국, Citing Patents, Cited Patents
저장형식	Text(ASCII format) Excel format PIAS분석(.xls)
메일정보	받는사람 (필수) @ 보내는사람 (선택) @ 제목 내용 KISTI 검색결과 이메일 서비스
안내	총 건의 자료가 검색되었습니다. 다운받으실 자료의 인덱스를 입력하세요. (1-10,000) 검색결과의 순서대로 최대 10,000건 까지 다운로드가 가능합니다. 데이타가 많을 경우 속도가 느려질 수 있습니다.(최대 2~3분 소요) 다운로드 파일은 UTF-8 형태로 저장됩니다. 파일의 내용이 제대로 보이지 않을실 때는 웹브라우저 상단의 보기 -> 인코딩 -> 자동선택 여부를 확인하십시오. ~ Text(ASCII format) Excel format

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Trailer length and hitch angle bias estimation 원문보기

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Trailer length and hitch angle bias estimation 원문보기

초록 ▼

대표청구항 ▼

연구과제 타임라인

전체(0) 논문(0) 특허(0) 보고서(0)

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